[fix] duplicate scenes in Solution.msg (moveit#638)

captain-yoshi · Dec 14, 2024 · 8721bbe · 8721bbe
1 parent 904020f
commit 8721bbe
Showing 1 changed file with 1 addition and 4 deletions.
diff --git a/core/src/storage.cpp b/core/src/storage.cpp
@@ -231,10 +231,7 @@ void SubTrajectory::appendTo(moveit_task_constructor_msgs::Solution& msg, Intros
 	if (trajectory())
 		trajectory()->getRobotTrajectoryMsg(t.trajectory);
 
-	if (this->end()->scene()->getParent() == this->start()->scene())
-		this->end()->scene()->getPlanningSceneDiffMsg(t.scene_diff);
-	else
-		this->end()->scene()->getPlanningSceneMsg(t.scene_diff);
+	this->end()->scene()->getPlanningSceneDiffMsg(t.scene_diff);
 }
 
 double SubTrajectory::computeCost(const CostTerm& f, std::string& comment) const {